摘要
针对实验室现有电力铁塔攀爬机器人,分析了影响其位姿精度的主要因素,充分考虑了机器人的基本误差(静态误差和动态误差)以及机器人移动基座偏角误差,建立了机器人的位姿误差分析模型。并依据所建立的机器人误差模型,在MATLAB中进行了分析计算,得到由静态误差、基座偏角误差和动态误差所引起的机器人末端位姿误差,并对多种因素所引起的机器人末端位姿误差进行综合得到机器人的综合位姿误差,这为机器人误差补偿提供了理论依据。
Specific to the laboratory pylon climbing robot,the main factors of which are analyzed.Considering the robot basic error （staticerror and the dynamic error） and the angular deviation of the robot moving base,a synthetically analytical model of root pose and position error is developed.A ccordingto the error model of the robot,a application based on the MATLAB has been programmed Using this program,the static error,the angular deviation of the base and the dynamic error to robot end-effector pose and position accuracy are calculated,then a conclusion of robot end-effector pose and position error resulting fiom many kinds of factors has been calculated eventually,and this error provides a theoretical basis for calibration of the robot.
出处
《机械设计与制造》
北大核心
2013年第11期179-182,共4页
Machinery Design & Manufacture
基金
四川省科技计划资助项目(2008GZ956)
四川大学青年教师科研启动基金资助项目(2011SCU11119)
